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PositionControl: variable replacement

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This commit is contained in:
Dennis Mannhart
2018-03-19 11:43:48 +01:00
committed by Lorenz Meier
parent e2ac12ef2c
commit 65a9cd171f
2 changed files with 5 additions and 6 deletions
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src/modules/mc_pos_control/PositionControl.cpp
+4 -4
View File
@@ -95,11 +95,11 @@ void PositionControl::updateSetpoint(const vehicle_local_position_setpoint_s &se
* controller and just return thrust.
*/
_skipController = false;
_ThrLimit[1] = _ThrMinPosition;
_ThrustLimit.min = _ThrMinPosition;
if (PX4_ISFINITE(setpoint.thrust[0]) && PX4_ISFINITE(setpoint.thrust[1]) && PX4_ISFINITE(setpoint.thrust[2])) {
_skipController = true;
_ThrLimit[1] = _ThrMinStab;
_ThrustLimit.min = _ThrMinStab;
_pos_sp.zero();
_vel_sp.zero();
_acc_sp.zero();
@@ -188,7 +188,7 @@ void PositionControl::_positionController()
_VelMaxXY);
_vel_sp(0) = vel_sp_xy(0);
_vel_sp(1) = vel_sp_xy(1);
_vel_sp(2) = math::constrain(_vel_sp(2), -_VelMaxZ[0], _VelMaxZ[1]);
_vel_sp(2) = math::constrain(_vel_sp(2), -_VelMaxZ.up, _VelMaxZ.down);
}
void PositionControl::_velocityController(const float &dt)
@@ -333,7 +333,7 @@ void PositionControl::_setParams()
param_get(_VelMaxZdown_h, &_VelMaxZ.down);
param_get(_ThrHover_h, &_ThrHover);
param_get(_ThrMax_h, &_ThrLimit[0]);
param_get(_ThrMax_h, &_ThrustLimit.max);
param_get(_ThrMinPosition_h, &_ThrMinPosition);
param_get(_ThrMinStab_h, &_ThrMinStab);
}
src/modules/mc_pos_control/PositionControl.hpp
+1 -2
View File
@@ -127,9 +127,8 @@ private:
float min;
};
Limits _ThrustLimit;
float _ThrHover{0.5f};
float _ThrLimit[2]; //index 0: max, index 1: min
float _ThrHover{0.5f};
float _ThrMinPosition{0.0f}; // minimum throttle for any position controlled mode
float _ThrMinStab{0.0f}; // minimum throttle for stabilized
bool _skipController{false};